      double distance_0 =  rel_enc_val_0 * (2*0.7*M_PI) / 75;
       double distance_1 =  rel_enc_val_1 * (2*0.7*M_PI) / 75;
       double distance = (fabs(distance_0)+fabs(distance_1)) / 2;

       double angle = fabs(distance_0 - distance_1) / 1;

       double X =  distance * sin(angle);
       double Y = distance * cos(angle);

       printf("X %f, Y %f\n",X,Y);
